/*
 * Software License Agreement (BSD License)
 *
 *  Author:    Oscar Mendez
 *  Created:   11.13.2023
 *
 *  Copyright (c) 2023, Locus Robotics
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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 *  POSSIBILITY OF SUCH DAMAGE.
 */
#include <fuse_variables/pinhole_camera.h>

#include <fuse_core/uuid.h>
#include <fuse_core/variable.h>
#include <fuse_variables/fixed_size_variable.h>
#include <pluginlib/class_list_macros.hpp>

#include <boost/serialization/export.hpp>

#include <ostream>

namespace fuse_variables
{
PinholeCamera::PinholeCamera(const fuse_core::UUID& uuid, const uint64_t& camera_id)
  : FixedSizeVariable(uuid), id_(camera_id)
{
}

PinholeCamera::PinholeCamera(const uint64_t& camera_id)
  : PinholeCamera(fuse_core::uuid::generate(detail::type(), camera_id), camera_id)
{
}

PinholeCamera::PinholeCamera(const fuse_core::UUID& uuid, const uint64_t& camera_id,
                              const double& fx, const double& fy,
                              const double& cx, const double& cy)
  : PinholeCamera(fuse_core::uuid::generate(detail::type(), camera_id), camera_id)
{
  data_[FX] = fx;
  data_[FY] = fy;
  data_[CX] = cx;
  data_[CY] = cy;
}

void PinholeCamera::print(std::ostream& stream) const
{
  stream << type() << ":\n"
         << "  uuid: " << uuid() << "\n"
         << "  size: " << size() << "\n"
         << "  landmark id: " << id() << "\n"
         << "  data:\n"
         << "  - cx: " << cx() << "\n"
         << "  - cy: " << cy() << "\n"
         << "  - fx: " << fx() << "\n"
         << "  - fy: " << fy() << "\n";
}

}  // namespace fuse_variables

BOOST_CLASS_EXPORT_IMPLEMENT(fuse_variables::PinholeCamera);
PLUGINLIB_EXPORT_CLASS(fuse_variables::PinholeCamera, fuse_core::Variable);
